Open AccessFinite‐time state‐feedback stabilisation of non‐holonomic systems with low‐order non‐linearities
Author(s) -
Wu Yuqiang,
Gao Fangzheng,
Liu Zhenguo
Publication year - 2015
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2014.1001
Subject(s) - control theory (sociology) , holonomic , integrator , state (computer science) , controller (irrigation) , full state feedback , sign function , sign (mathematics) , computer science , function (biology) , control (management) , mathematics , algorithm , artificial intelligence , computer network , mathematical analysis , bandwidth (computing) , evolutionary biology , agronomy , biology
This study investigates the problem of finite‐time stabilisation by state feedback for a class of non‐holonomic systems in chained form with low‐order non‐linearities, to which the existing control methods are inapplicable. By introducing sign function and necessarily modifying the method of adding a power integrator, a state‐feedback controller is successfully constructed. Together with a novel switching control strategy, the designed controller guarantees that the states of closed‐loop system are regulated to zero in a finite time. A simulation example is provided to illustrate the effectiveness of the proposed approach.